FIELD: instrument engineering.
SUBSTANCE: this invention relates to method and device for cleaning. Method includes: obtaining a plan of cleared zone, identifying an obstacle in cleared zone; determination of uncleaned zone, which cannot be cleared due to the location of obstacle in the cleared zone according to the plan; determination of whether an obstacle located in uncleaned zone can be removed by sweeper; and removal of the obstacle by the sweeper and cleaning by the sweeper of the uncleaned area, if the obstacle located in uncleaned zone can be removed by the sweeper. In this technical solution, meeting an obstacle during cleaning, the sweeper can mark zone as an uncleaned one, and if determined, that the obstacle located in this zone can be removed, the sweeper removes obstacle and clears the zone.
EFFECT: this can improve flexibility when cleaning a room, guarantee the quality of cleaning and improve the user's impression of using the sweeper.
16 cl, 13 dwg
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